CN106774346B - 用于太阳能面板清扫机器人的定位装置及其定位方法 - Google Patents

用于太阳能面板清扫机器人的定位装置及其定位方法 Download PDF

Info

Publication number
CN106774346B
CN106774346B CN201710073500.1A CN201710073500A CN106774346B CN 106774346 B CN106774346 B CN 106774346B CN 201710073500 A CN201710073500 A CN 201710073500A CN 106774346 B CN106774346 B CN 106774346B
Authority
CN
China
Prior art keywords
vehicle body
solar panel
unit
image acquisition
positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710073500.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN106774346A (zh
Inventor
彭芳
徐建荣
周峰
王佳庆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Radiant Photovoltaic Technology Co Ltd
Original Assignee
Suzhou Radiant Photovoltaic Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Radiant Photovoltaic Technology Co Ltd filed Critical Suzhou Radiant Photovoltaic Technology Co Ltd
Priority to CN201710073500.1A priority Critical patent/CN106774346B/zh
Publication of CN106774346A publication Critical patent/CN106774346A/zh
Priority to EP18750852.8A priority patent/EP3582055B1/en
Priority to JP2019543257A priority patent/JP6860180B2/ja
Priority to US16/485,179 priority patent/US20200169215A1/en
Priority to PCT/CN2018/075523 priority patent/WO2018145631A1/zh
Priority to ES18750852T priority patent/ES2927987T3/es
Application granted granted Critical
Publication of CN106774346B publication Critical patent/CN106774346B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)
CN201710073500.1A 2017-02-10 2017-02-10 用于太阳能面板清扫机器人的定位装置及其定位方法 Active CN106774346B (zh)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN201710073500.1A CN106774346B (zh) 2017-02-10 2017-02-10 用于太阳能面板清扫机器人的定位装置及其定位方法
EP18750852.8A EP3582055B1 (en) 2017-02-10 2018-02-07 Solar panel cleaning robot positioning device and positioning method thereof
JP2019543257A JP6860180B2 (ja) 2017-02-10 2018-02-07 太陽光パネル清掃ロボットの測位装置及びその測位方法
US16/485,179 US20200169215A1 (en) 2017-02-10 2018-02-07 Solar panel cleaning robot positioning device and positioning method thereof
PCT/CN2018/075523 WO2018145631A1 (zh) 2017-02-10 2018-02-07 用于太阳能面板清扫机器人的定位装置及其定位方法
ES18750852T ES2927987T3 (es) 2017-02-10 2018-02-07 Dispositivo de posicionamiento de robot de limpieza de panel solar y método de posicionamiento asociado

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710073500.1A CN106774346B (zh) 2017-02-10 2017-02-10 用于太阳能面板清扫机器人的定位装置及其定位方法

Publications (2)

Publication Number Publication Date
CN106774346A CN106774346A (zh) 2017-05-31
CN106774346B true CN106774346B (zh) 2023-11-24

Family

ID=58956306

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710073500.1A Active CN106774346B (zh) 2017-02-10 2017-02-10 用于太阳能面板清扫机器人的定位装置及其定位方法

Country Status (6)

Country Link
US (1) US20200169215A1 (enrdf_load_stackoverflow)
EP (1) EP3582055B1 (enrdf_load_stackoverflow)
JP (1) JP6860180B2 (enrdf_load_stackoverflow)
CN (1) CN106774346B (enrdf_load_stackoverflow)
ES (1) ES2927987T3 (enrdf_load_stackoverflow)
WO (1) WO2018145631A1 (enrdf_load_stackoverflow)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106774346B (zh) * 2017-02-10 2023-11-24 苏州瑞得恩光能科技有限公司 用于太阳能面板清扫机器人的定位装置及其定位方法
CN107612503B (zh) * 2017-10-20 2023-07-25 苏州瑞得恩光能科技有限公司 太阳能面板故障检测方法及系统以及机器人
CN107553497B (zh) * 2017-10-20 2023-12-22 苏州瑞得恩光能科技有限公司 太阳能面板清扫机器人的边缘定位装置及其定位方法
US11638939B2 (en) * 2018-11-27 2023-05-02 Steam Tech, Llc Mobile panel cleaner
USD938114S1 (en) * 2019-03-22 2021-12-07 Sungrow Power Supply Co., Ltd. Intelligent cleaning robot
DE102020120030A1 (de) 2020-07-29 2022-02-03 Frenell Gmbh Solarfeld mit zwischen solarpanels verfahrbarem serviceroboter
CN112254657A (zh) * 2020-09-21 2021-01-22 河南颂达信息技术有限公司 一种基于视觉感知的智能清雪机器人调度方法
CN112381852A (zh) * 2020-11-11 2021-02-19 苏州瑞得恩光能科技有限公司 清洁机器人的定位方法及存储介质
CN112577545B (zh) * 2020-12-01 2022-09-13 合肥仁洁智能科技有限公司 光伏清扫装置的检测方法及光伏发电系统
CN113962929B (zh) * 2021-09-07 2024-10-22 湖南大学 光伏电池组件缺陷检测方法、系统及光伏电池组件生产线
CN114942635B (zh) * 2022-04-30 2024-12-24 苏州瑞得恩光能科技有限公司 一种机器人及其直线行进控制方法、数据处理设备

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8726458B1 (en) * 2011-05-26 2014-05-20 Scott Reinhold Mahr Solar collector washing device
JP2015013281A (ja) * 2013-06-03 2015-01-22 シンフォニアテクノロジー株式会社 ソーラーパネル清掃装置
JP2015150492A (ja) * 2014-02-14 2015-08-24 株式会社タイトウトレーディング ソーラーパネル清掃機
CN205056510U (zh) * 2015-09-09 2016-03-02 邹伟 一种全天候光伏太阳能电池板清扫机器人
KR20160033615A (ko) * 2014-09-16 2016-03-28 성균관대학교산학협력단 태양광 패널용 세척 로봇 및 이를 이용한 태양광 패널의 세척방법
CN105868469A (zh) * 2016-03-28 2016-08-17 湖南大学 一种基于透视图像的车道偏离预警方法及预警模型构建方法
CN106182015A (zh) * 2016-09-21 2016-12-07 苏州瑞得恩自动化设备科技有限公司 太阳能面板清扫机器人控制系统
CN206489451U (zh) * 2017-02-10 2017-09-12 苏州瑞得恩光能科技有限公司 用于太阳能面板清扫机器人的定位装置

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63263505A (ja) * 1987-04-21 1988-10-31 Daifuku Co Ltd 移動車誘導設備
JP2005037341A (ja) * 2003-07-17 2005-02-10 Marui Keiki Kk 電子式長さ／角度測定器
JP6299231B2 (ja) * 2014-01-22 2018-03-28 シンフォニアテクノロジー株式会社 ソーラーパネル清掃装置
US20160379074A1 (en) * 2015-06-25 2016-12-29 Appropolis Inc. System and a method for tracking mobile objects using cameras and tag devices
CN106292655A (zh) * 2015-06-25 2017-01-04 松下电器（美国）知识产权公司 远程作业装置和控制方法
US20170039671A1 (en) * 2015-08-07 2017-02-09 Seoul National University R&Db Foundation Robotic self-filming system
CN204948013U (zh) * 2015-09-09 2016-01-06 邹伟 一种带除雪装置的全天候光伏太阳能电池板清扫机器人
CN105680789B (zh) * 2016-03-10 2017-08-01 山东豪沃电气有限公司 一种太阳能电池板自动清扫系统
CN106227215A (zh) * 2016-08-31 2016-12-14 宁波易拓智谱机器人有限公司 机器人自动光伏组件清洗系统及其清洗方法
CN106269624B (zh) * 2016-09-21 2019-03-08 苏州瑞得恩光能科技有限公司 太阳能面板清扫机器人
CN206541195U (zh) * 2017-02-10 2017-10-03 苏州瑞得恩光能科技有限公司 用于太阳能面板清扫机器人的导航系统
CN106774346B (zh) * 2017-02-10 2023-11-24 苏州瑞得恩光能科技有限公司 用于太阳能面板清扫机器人的定位装置及其定位方法
CN106873587B (zh) * 2017-02-10 2023-07-14 苏州瑞得恩光能科技有限公司 用于太阳能面板清扫机器人的导航系统及其导航方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8726458B1 (en) * 2011-05-26 2014-05-20 Scott Reinhold Mahr Solar collector washing device
JP2015013281A (ja) * 2013-06-03 2015-01-22 シンフォニアテクノロジー株式会社 ソーラーパネル清掃装置
JP2015150492A (ja) * 2014-02-14 2015-08-24 株式会社タイトウトレーディング ソーラーパネル清掃機
KR20160033615A (ko) * 2014-09-16 2016-03-28 성균관대학교산학협력단 태양광 패널용 세척 로봇 및 이를 이용한 태양광 패널의 세척방법
CN205056510U (zh) * 2015-09-09 2016-03-02 邹伟 一种全天候光伏太阳能电池板清扫机器人
CN105868469A (zh) * 2016-03-28 2016-08-17 湖南大学 一种基于透视图像的车道偏离预警方法及预警模型构建方法
CN106182015A (zh) * 2016-09-21 2016-12-07 苏州瑞得恩自动化设备科技有限公司 太阳能面板清扫机器人控制系统
CN206489451U (zh) * 2017-02-10 2017-09-12 苏州瑞得恩光能科技有限公司 用于太阳能面板清扫机器人的定位装置

Also Published As

Publication number Publication date
US20200169215A1 (en) 2020-05-28
JP2020507858A (ja) 2020-03-12
JP6860180B2 (ja) 2021-04-14
WO2018145631A1 (zh) 2018-08-16
CN106774346A (zh) 2017-05-31
EP3582055B1 (en) 2022-07-06
EP3582055A4 (en) 2020-12-16
ES2927987T3 (es) 2022-11-14
EP3582055A1 (en) 2019-12-18

Similar Documents

Publication Publication Date Title
CN106774346B (zh) 用于太阳能面板清扫机器人的定位装置及其定位方法
CN106873587B (zh) 用于太阳能面板清扫机器人的导航系统及其导航方法
WO2019076005A1 (zh) 太阳能面板清扫机器人的边缘定位装置及其定位方法
CN105157592B (zh) 基于双目视觉的柔性后缘可变形机翼的变形形状和速率的测量方法
CN108627121B (zh) 一种镜面面形检测装置及其检测方法
CN104406521A (zh) 基于视觉测量技术的接触网几何参数测量仪器及检测方法
CN109191533B (zh) 基于装配式建筑的塔吊高空施工方法
WO2020087909A1 (zh) 一种基于多相机的光伏电池串定位方法
CN103852060A (zh) 一种基于单目视觉的可见光图像测距方法
CN107612503B (zh) 太阳能面板故障检测方法及系统以及机器人
CN103398669A (zh) 一种用于测量自由曲面的多轴联动视觉检测方法和设备
WO2019076004A1 (zh) 太阳能面板清扫机器人直行判定装置及其判定方法
CN103366169A (zh) 一种工程机械臂架多点状态识别方法、设备及系统
CN108489397A (zh) 一种车载接触网运行状态非接触式检测装置及方法
CN106651957A (zh) 基于模板的单目视觉目标空间定位方法
CN202952978U (zh) 列车部件信息采集器
CN105606627B (zh) 核电站安全壳远程外观检查测量方法及系统
CN108760023A (zh) 两端支撑太阳翼的视觉振动测量装置及方法
CN212623088U (zh) 一种基于图像识别和激光测距的铁塔姿态预警装置
CN206541195U (zh) 用于太阳能面板清扫机器人的导航系统
CN106840137B (zh) 一种四点式掘进机自动定位定向方法
CN105352546A (zh) 一种受电弓碳棒磨耗值测量系统
CN206489451U (zh) 用于太阳能面板清扫机器人的定位装置
CN102854200A (zh) 一种阵列基板检测设备
CN103884332A (zh) 一种障碍物判定方法、装置及移动电子设备

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant